CN207563614U - Support synchronous proportional trailing type mechanical arm - Google Patents
Support synchronous proportional trailing type mechanical arm Download PDFInfo
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- CN207563614U CN207563614U CN201721640691.7U CN201721640691U CN207563614U CN 207563614 U CN207563614 U CN 207563614U CN 201721640691 U CN201721640691 U CN 201721640691U CN 207563614 U CN207563614 U CN 207563614U
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- bearing
- mechanical arm
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- interior
- seat
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Abstract
The utility model discloses a kind of bearing synchronous proportional trailing type mechanical arms, and in rack, the rack includes robot gantry and rack top panel, and the rack top panel is located on robot gantry；The mechanical arm includes lower floor, middle level and three, upper strata part, and lower floor follows group for bearing synchronous proportional, and middle level is mechanical arm group, and upper strata is suspension seat of honour group；The rectilinear orbit of supporting machinery arm and its component follow bearing back and forth with mechanical arm synchronous proportional during the bearing synchronous proportional follows group for being moved back and forth in mechanical arm group；The suspension seat of honour group is used to hang rectilinear orbit and Synchronization Component.A kind of bearing synchronous proportional trailing type mechanical arm provided by the utility model, solve large-tonnage closed punch send receipts automation issues, it shortens large-tonnage closed punch and send the horizontal throw for receiving mechanical arm, reduce the jib-length for stretching out mechanical arm to the maximum extent and trembleed caused by jib-length is long.
Description
Technical field
The utility model belongs to field of machining technology, and in particular to a kind of bearing synchronous proportional trailing type mechanical arm.
Background technology
In the production model of existing large-tonnage closed punch, including two kinds：One kind is two people's bilateral operation modes, another
Kind is single unilateral operation mode.Two people's bilateral operation modes need two people to be operated respectively in the both sides of punching machine, a people
It is responsible for sending blank, another people is responsible for harvest product；Although single unilateral side operation mode only needs a people to be carried out in the side of punching machine
Operation, but need to complete the work for giving blank and harvest product simultaneously.
The stroke of the mechanical arm disengaging die cavity of large-tonnage closed punch is longer, by taking 400 tons of closed punch as an example, individual layer machinery
The mechanical arm disengaging die cavity stroke of arm pattern needs 1000mm, it is assumed that the linear bearing of bearing individual layer mechanical arm rectilinear orbit is critical
Installation site is punching machine left margin, then the stretching jib-length of individual layer mechanical arm can be more than 1600mm.In order to ensure mechanical arm
Stability, the overall length of mechanical arm can also be more than 3000mm.
Since the length that mechanical arm stretches out cantilever is long, mechanical arm front end is caused to be increased in the flutter amplitude of the end of run, directly
There are two the adverse effects brought：First, mechanical arm front end (under) blank enter mould deviation be located；Second is that upper mold hit down into
Product fall into mechanical arm front end (on) have deviation.Entering mould deviation being located can cause rejection rate to rise；Finished product falls into mechanical arm front end
(on) the finished product stacking that has deviation that can lead to end is irregular, labor intensive is needed again to be arranged.
Utility model content
For the above-mentioned problems in the prior art, the utility model provides a kind of bearing synchronous proportional trailing type machine
Tool arm, solve large-tonnage closed punch send receipts automation issues, shortens large-tonnage closed punch and send the water for receiving mechanical arm
Parallel journey reduces the jib-length for stretching out mechanical arm and is trembleed caused by jib-length is long to the maximum extent.
For this purpose, the utility model employs following technical scheme：
A kind of bearing synchronous proportional trailing type mechanical arm, in rack, the rack includes robot gantry and rack
Top panel, the rack top panel are located on robot gantry；The mechanical arm includes lower floor, middle level and three, upper strata part,
Lower floor follows group for bearing synchronous proportional, and middle level is mechanical arm group, and upper strata is suspension seat of honour group；The bearing synchronous proportional follows
Group for being moved back and forth in mechanical arm group during the rectilinear orbit of supporting machinery arm and its component and mechanical arm synchronous proportional
Follow bearing back and forth；The suspension seat of honour group is used to hang rectilinear orbit and Synchronization Component.
Further, it is described bearing synchronous proportional follow group include linear bearing, support synchronous proportional follow seat, straight line rail
Road, track intermediate support, limiting polyester block, track bearing, inter-sync band folder and inter-sync band holder；The linear bearing, rail
Road intermediate support, limiting polyester block, track bearing, inter-sync band folder and inter-sync band holder are mounted on the bearing synchronous proportional
It follows on seat；The inter-sync band folder is mounted on the inter-sync band holder, and the rectilinear orbit is mounted among track and props up
On seat, track bearing.
Further, the mechanical arm group includes outer synchronous clamping, stroke sense answers pointer, hack absorbent module, linear axis
It holds, drag chain seat, mechanical arm mounting base, mechanical arm and suction pick up group；The outer synchronous clamping, stroke sense answer pointer, hack absorption group
Part, linear bearing, drag chain seat, mechanical arm are mounted in the mechanical arm mounting base；The suction picks up group mounted on the mechanical arm
On.
Further, the suspension seat of honour group includes suspension group installation seat plate, outer active synchronization wheel bearing seat, turbine deceleration
Group is picked up in machine, servo motor, rectilinear orbit, track bearing, interior driven synchronization wheel shaft, outer driven synchronization wheel shaft, column, finished product suction
Part, outer synchronizing wheel gear, interior synchronizing wheel gear, outer active synchronization wheel, interior active synchronization wheel, outer synchronous belt, inter-sync band,
Interior driven synchronizing wheel and outer driven synchronizing wheel；The suspension group installation seat plate is mounted on the column, and the column is mounted on
On the rack top panel.
Further, the outer active synchronization wheel bearing seat, worm speed reducer, track bearing, interior driven synchronization wheel shaft, outer
Driven synchronization wheel shaft and finished product suction pick up component on the suspension group installation seat plate；The servo motor is mounted on the whirlpool
It takes turns on speed reducer, the rectilinear orbit is mounted on the track bearing；The outer synchronizing wheel gear and outer active synchronization wheel
On the outer active synchronization wheel bearing seat, the interior synchronizing wheel gear and interior active synchronization wheel are mounted on the turbine
On speed reducer output shaft；The interior driven synchronizing wheel is mounted in the interior driven synchronization wheel shaft, the outer driven synchronizing wheel peace
In the outer driven synchronization wheel shaft；The outer synchronous belt is mounted in the outer active synchronization wheel and outer driven synchronizing wheel,
The inter-sync band is mounted in the interior active synchronization wheel and interior driven synchronizing wheel.
Further, the bearing synchronous proportional follows the linear bearing in group to be connected to straight in the suspension seat of honour group
On trajectory；The bearing synchronous proportional follows the rectilinear orbit in group to be connect with the linear bearing in the mechanical arm group；Institute
It states inter-sync band folder to connect with the inter-sync band, the outer synchronous clamping and the outer synchronous band connection.
Compared with prior art, the beneficial effects of the utility model are：
(1) realize large-tonnage closed punch send receipts to automate.
(2) extension elongation of large-tonnage closed punch mechanical arm is effectively shortened, mechanical arm front end is in the end of run
Flutter amplitude reduces to the maximum extent, be conducive to blank enter mould accurately and finished product withdraw neatly.
(3) overall length of large-tonnage closed punch mechanical arm and rack overall length are effectively shortened.
Description of the drawings
Fig. 1 is a kind of composition structure diagram for supporting synchronous proportional trailing type mechanical arm provided by the utility model.
Fig. 2 is that bearing synchronous proportional follows in a kind of bearing synchronous proportional trailing type mechanical arm provided by the utility model
The structure distribution figure of group.
Fig. 3 is that bearing synchronous proportional follows in a kind of bearing synchronous proportional trailing type mechanical arm provided by the utility model
The structure diagram of group.
Fig. 4 is a kind of structure for supporting mechanical arm group in synchronous proportional trailing type mechanical arm point provided by the utility model
Butut.
Fig. 5 is that a kind of structure for supporting mechanical arm group in synchronous proportional trailing type mechanical arm provided by the utility model is shown
It is intended to.
Fig. 6 is a kind of structure for supporting suspension seat of honour group in synchronous proportional trailing type mechanical arm provided by the utility model
Distribution map.
Fig. 7 is a kind of structure for supporting suspension seat of honour group in synchronous proportional trailing type mechanical arm provided by the utility model
Schematic diagram.
Fig. 8 is a kind of structure assembling plane signal for supporting synchronous proportional trailing type mechanical arm provided by the utility model
Figure.
Fig. 9 is a kind of three-dimensional signal of structure assembling for supporting synchronous proportional trailing type mechanical arm provided by the utility model
Figure.
Figure 10 is a kind of fundamental diagram for supporting synchronous proportional trailing type mechanical arm provided by the utility model.
Figure 11 is a kind of working state figure for supporting synchronous proportional trailing type mechanical arm provided by the utility model.
Reference sign：3rd, rack；31st, robot gantry；32nd, rack top panel；5th, bearing synchronous proportional follows group；
51st, linear bearing；52nd, bearing synchronous proportional follows seat；53rd, rectilinear orbit；54th, track intermediate support；55th, polyester block is limited；
56th, track bearing；57th, inter-sync band is pressed from both sides；58th, inter-sync band holder；7th, mechanical arm group；71st, outer synchronous clamping；72nd, stroke sense
Answer pointer；73rd, hack absorbent module；74th, linear bearing；75th, drag chain seat；76th, mechanical arm mounting base；77th, mechanical arm；78th, it inhales
Pick up group；9th, seat of honour group is hung；9a, suspension group installation seat plate；9b, outer active synchronization wheel bearing seat；9c, worm speed reducer；9d, it watches
Take motor；9e, rectilinear orbit；9f, track bearing；9g, interior driven synchronization wheel shaft；9h, outer driven synchronization wheel shaft；9i, column；
Component is picked up in 9j, finished product suction；9k, outer synchronizing wheel gear；9l, interior synchronizing wheel gear；9m, outer active synchronization wheel；9n, interior active
Synchronizing wheel；9o, outer synchronous belt；9p, inter-sync band；9q, interior driven synchronizing wheel；9r, outer driven synchronizing wheel.Unit：mm.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment is described in detail the utility model, specific embodiment therein and says
It is bright to be only used for explaining the utility model, but be not intended to limit the scope of the present invention.
As shown in Figure 1, the utility model discloses a kind of bearing synchronous proportional trailing type mechanical arm, in rack 3, institute
It states rack 3 and includes robot gantry 31 and rack top panel 32, the rack top panel 32 is located on robot gantry 31；It is described
Mechanical arm includes lower floor, middle level and three, upper strata part, and lower floor follows group 5 for bearing synchronous proportional, and middle level is mechanical arm group 7,
Upper strata is suspension seat of honour group 9；The bearing synchronous proportional follows group 5 for being supported during mechanical arm group 7 moves back and forth
The rectilinear orbit and its component of mechanical arm follow bearing back and forth with mechanical arm synchronous proportional；The suspension seat of honour group 9 is used to hang
Rectilinear orbit and Synchronization Component.
As shown in Figures 2 and 3, the bearing synchronous proportional follows group 5 to be followed including linear bearing 51, bearing synchronous proportional
Seat 52, rectilinear orbit 53, track intermediate support 54, limiting polyester block 55, track bearing 56, inter-sync band folder 57 and inter-sync band
Holder 58；The linear bearing 51, track intermediate support 54, limiting polyester block 55, track bearing 56, inter-sync band folder 57 and interior
Synchronous belt holder 58 is mounted on the bearing synchronous proportional and follows on seat 52；The inter-sync band folder 57 is mounted on the interior synchronization
On band holder 58, the rectilinear orbit 53 is on track intermediate support 54, track bearing 56.
As shown in Figure 4 and Figure 5, the mechanical arm group 7 includes outer synchronous clamping 71, stroke sense answers pointer 72, hack absorption
Group 78 is picked up in component 73, linear bearing 74, drag chain seat 75, mechanical arm mounting base 76, mechanical arm 77 and suction；The outer synchronous clamping
71st, stroke sense answers pointer 72, hack absorbent module 73, linear bearing 74, drag chain seat 75, mechanical arm 77 to be mounted on the mechanical arm
In mounting base 76；The suction picks up group 78 on the mechanical arm 77.
As shown in Figure 6 and Figure 7, the suspension seat of honour group 9 includes suspension group installation seat plate 9a, outer active synchronization wheel bearing seat
9b, worm speed reducer 9c, servo motor 9d, rectilinear orbit 9e, track bearing 9f, interior driven synchronization wheel shaft 9g, outer driven synchronization
Component 9j, outer synchronizing wheel gear 9k, interior synchronizing wheel gear 9l, outer active synchronization wheel are picked up in wheel shaft 9h, column 9i, finished product suction
9m, interior active synchronization wheel 9n, outer synchronous belt 9o, inter-sync band 9p, interior driven synchronizing wheel 9q and outer driven synchronizing wheel 9r；It is described outstanding
Extension group installation seat plate 9a is mounted on the column 9i, and the column 9i is mounted on the rack top panel 32.
It is the outer active synchronization wheel bearing seat 9b, worm speed reducer 9c, track bearing 9f, interior driven synchronization wheel shaft 9g, outer
Driven synchronization wheel shaft 9h and finished product suction pick up component 9j on the suspension group installation seat plate 9a；The servo motor 9d installations
On the worm speed reducer 9c, the rectilinear orbit 9e is mounted on the track bearing 9f；The outer synchronizing wheel gear
9k and outer active synchronization wheel 9m is mounted on the outer active synchronization wheel bearing seat 9b, interior synchronizing wheel the gear 9l and interior master
Dynamic synchronizing wheel 9n is mounted on the worm speed reducer 9c output shafts；The interior driven synchronizing wheel 9q is mounted on described interior driven same
It walks on wheel shaft 9g, the outer driven synchronizing wheel 9r is mounted on the outer driven synchronization wheel shaft 9h；The outer synchronous belt 9o installations
On the outer active synchronization wheel 9m and outer driven synchronizing wheel 9r, the inter-sync band 9p is mounted on the interior active synchronization wheel 9n
On interior driven synchronizing wheel 9q.
As shown in Figure 8 and Figure 9, the bearing synchronous proportional follows the linear bearing 51 in group 5 to be connected to the suspension master
On rectilinear orbit 9e in seat group 9；The bearing synchronous proportional is followed in rectilinear orbit 53 and the mechanical arm group 7 in group 5
Linear bearing 74 connect；Inter-sync band folder 57 is connect with the inter-sync band 9p, the outer synchronous clamping 71 with it is described
Outer synchronous belt 9o connections.
Embodiment
Figure 10 show a kind of fundamental diagram for supporting synchronous proportional trailing type mechanical arm provided by the utility model,
Specific working mode is as follows：
When servo motor 9d drives worm reduction gear 9c, synchronizing wheel gear 9l in the drive of worm reduction gear 9c output shafts
Anticlockwise rotary motion is done with interior active synchronization wheel 9n；Interior active synchronization wheel 9n drives inter-sync band 9p, inter-sync band
9p drives inter-sync band folder 57 and inter-sync band holder 58, so as to which entire bearing synchronous proportional be driven to follow 5 (lower floors) of group along straight
Trajectory 9e is run from left to right；Interior synchronizing wheel is made suitable of the outer synchronizing wheel of gear 9l drives of gear 9k and outer active synchronization wheel 9m
Clockwise rotates and drives outer synchronous belt 9o, outer synchronous belt 9o drivening pieces synchronous clamping 71 and linear bearing 74, so as to drive
Entire mechanical arm group 7 (middle level) is run from left to right along rectilinear orbit 53；Outer synchronizing wheel is with gear 9k and interior synchronizing wheel gear
The 9l numbers of teeth are equal, and engagement changes the direction of motion of synchronous belt；Outer active synchronization wheel 9m, outer driven synchronizing wheel 9r and interior active synchronization
Take turns 9n, the gear ratio of interior driven synchronizing wheel 9q is 2：1, mechanical arm group 7 (middle level) follows 5 (lower floors) of group with bearing synchronous proportional
The speed of service and stroke ratio are 2：1；When mechanical arm group 7 (middle level) operation stroke be L when, bearing synchronous proportional follow group 5 (under
Layer) operation stroke be 1/2L.
By taking 400 tons of closed punch as an example, after the technical solution of the utility model, mechanical arm overall length can be by original
3000mm shorten to 2500mm, and the length that mechanical arm stretches out cantilever also shorten to 1000mm by original 1600mm, such as Figure 11 institutes
Show.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Any modification, equivalent replacement and improvement made within the spirit and spirit of utility model etc., should be included in this reality
Within novel protection domain.
Claims (6)
1. a kind of bearing synchronous proportional trailing type mechanical arm, in rack (3), the rack (3) is including robot gantry
(31) and rack top panel (32), the rack top panel (32) is on robot gantry (31), it is characterised in that：The machine
Tool arm includes lower floor, middle level and three, upper strata part, and lower floor follows group (5) for bearing synchronous proportional, and middle level is mechanical arm group
(7), upper strata is suspension seat of honour group (9)；The bearing synchronous proportional follows group (5) to move back and forth in mechanical arm group (7)
The rectilinear orbit of supporting machinery arm and its component follow bearing back and forth with mechanical arm synchronous proportional in the process；The suspension seat of honour group
(9) for hanging rectilinear orbit and Synchronization Component.
2. a kind of bearing synchronous proportional trailing type mechanical arm according to claim 1, it is characterised in that：The bearing synchronizes
Ratio follows group (5) seat (52), rectilinear orbit (53), track centre to be followed to prop up including linear bearing (51), bearing synchronous proportional
Seat (54), limiting polyester block (55), track bearing (56), inter-sync band folder (57) and inter-sync band holder (58)；The straight line
Bearing (51), track intermediate support (54), limiting polyester block (55), track bearing (56), inter-sync band folder (57) with it is interior synchronous
Band holder (58) is followed mounted on the bearing synchronous proportional on seat (52)；The inter-sync band folder (57) is mounted on described interior same
On step band holder (58), the rectilinear orbit (53) is on track intermediate support (54), track bearing (56).
3. a kind of bearing synchronous proportional trailing type mechanical arm according to claim 1 or 2, it is characterised in that：The machinery
Arm group (7) answers pointer (72), hack absorbent module (73), linear bearing (74), drag chain including outer synchronous clamping (71), stroke sense
Group (78) is picked up in seat (75), mechanical arm mounting base (76), mechanical arm (77) and suction；The outer synchronous clamping (71), stroke sense should refer to
Needle (72), hack absorbent module (73), linear bearing (74), drag chain seat (75), mechanical arm (77) are pacified mounted on the mechanical arm
It fills on seat (76)；The suction picks up group (78) on the mechanical arm (77).
4. a kind of bearing synchronous proportional trailing type mechanical arm according to claim 3, it is characterised in that：The suspension seat of honour
Group (9) includes suspension group installation seat plate (9a), outer active synchronization wheel bearing seat (9b), worm speed reducer (9c), servo motor
(9d), rectilinear orbit (9e), track bearing (9f), interior driven synchronization wheel shaft (9g), outer driven synchronization wheel shaft (9h), column
(9i), finished product suction pick up component (9j), outer synchronizing wheel gear (9k), interior synchronizing wheel gear (9l), outer active synchronization wheel (9m),
Interior active synchronization wheel (9n), outer synchronous belt (9o), inter-sync band (9p), interior driven synchronizing wheel (9q) and outer driven synchronizing wheel
(9r)；The suspension group installation seat plate (9a) is on the column (9i), and the column (9i) is in the rack
On panel (32).
5. a kind of bearing synchronous proportional trailing type mechanical arm according to claim 4, it is characterised in that：The outer active is same
Walk wheel bearing seat (9b), worm speed reducer (9c), track bearing (9f), interior driven synchronization wheel shaft (9g), outer driven synchronization wheel shaft
The suction of (9h) and finished product picks up component (9j) on the suspension group installation seat plate (9a)；The servo motor (9d) is mounted on institute
It states on worm speed reducer (9c), the rectilinear orbit (9e) is on the track bearing (9f)；The outer synchronizing wheel tooth
(9k) and outer active synchronization wheel (9m) are taken turns on the outer active synchronization wheel bearing seat (9b), the interior synchronizing wheel gear
(9l) and interior active synchronization wheel (9n) are on the worm speed reducer (9c) output shaft；Interior driven synchronizing wheel (9q) peace
On the interior driven synchronization wheel shaft (9g), the outer driven synchronizing wheel (9r) is mounted on the outer driven synchronization wheel shaft (9h)
On；The outer synchronous belt (9o) is on the outer active synchronization wheel (9m) and outer driven synchronizing wheel (9r), the interior synchronization
Band (9p) is on the interior active synchronization wheel (9n) and interior driven synchronizing wheel (9q).
6. a kind of bearing synchronous proportional trailing type mechanical arm according to claim 5, it is characterised in that：The bearing synchronizes
Ratio is followed on the rectilinear orbit (9e) that the linear bearing (51) in group (5) is connected in the suspension seat of honour group (9)；The branch
Holding synchronous proportional follows the rectilinear orbit (53) in group (5) to be connect with the linear bearing (74) in the mechanical arm group (7)；It is described
Inter-sync band folder (57) is connect with the inter-sync band (9p), and the outer synchronous clamping (71) connects with the outer synchronous belt (9o)
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721640691.7U CN207563614U (en) | 2017-11-30 | 2017-11-30 | Support synchronous proportional trailing type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721640691.7U CN207563614U (en) | 2017-11-30 | 2017-11-30 | Support synchronous proportional trailing type mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207563614U true CN207563614U (en) | 2018-07-03 |
Family
ID=62689230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721640691.7U Active CN207563614U (en) | 2017-11-30 | 2017-11-30 | Support synchronous proportional trailing type mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207563614U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107824708A (en) * | 2017-11-30 | 2018-03-23 | 常州市晨源铸造有限公司 | Support synchronous proportional trailing type mechanical arm |
-
2017
- 2017-11-30 CN CN201721640691.7U patent/CN207563614U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107824708A (en) * | 2017-11-30 | 2018-03-23 | 常州市晨源铸造有限公司 | Support synchronous proportional trailing type mechanical arm |
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